Optics and Precision Engineering, Volume. 31, Issue 22, 3289(2023)
Residual modelling and compensation for articulated arm coordinate measuring machines based on compound calibration and extreme learning machine
Figures & Tables(31)
Fig. 6. Diagram of the position and radius of the configuration circle
Fig. 10. Relationship between configuration parameters and residuals
Fig. 11. Relationship of the elevation angle， swing angle and residual
Fig. 13. Relationship between swing angle and rotation angle and residuals in
Fig. 21. Residual compensation effect of different fitting algorithms
Fig. 22. Compensation effect of different residual compensation models
Table 1. Nominal value of kinematic parameter
View tableView in ArticleTable 1. Nominal value of kinematic parameter
No. of joints
i
Linkage length
ai-1/mm
Linkage offset
di/mm
Torsion angle
αi-1/rad
Joint zero offset
θi0/rad
lx=0，ly=0，lz=0（mm） 1 42 155 1.570 8 0 2 42 0 1.570 8 0 3 -28 600 -1.570 8 0 4 -28 0 -1.570 8 0 5 28 600 1.570 8 0 6 -30 0 -1.570 8 0 7 0 230 0 0
Table 2. D-H parameter of the AACMM after identification
View tableView in ArticleTable 2. D-H parameter of the AACMM after identification
No. of joints
i
Linkage length
ai-1/mm
Linkage offset
di/mm
Torsion angle
αi-1/rad
Joint zero offset
θi0/rad
Δlx=-0.004 mm，Δly=-0.184 mm，Δlz=0.158 mm 1 42.682 156.861 1.570 9 0.037 0 2 42.663 0.925 1.567 8 -0.013 0 3 -28.776 596.025 -1.569 0 0.048 8 4 -29.256 1.119 -1.572 2 0.020 5 5 28.837 6 597.249 1.570 7 0.103 6 6 -28.980 -1.717 -1.559 4 0.000 9 7 0.006 0 227.133 -0.087 3 0.007 0
Table 3. Compound kinematic calibration results
View tableView in ArticleTable 3. Compound kinematic calibration results
Maximum Average Standard deviation Before calibration 49.368 26.498 12.348 After calibration 0.054 0.021 0.009
Table 4. Comparison of kinematic calibration effects
View tableView in ArticleTable 4. Comparison of kinematic calibration effects
Single point
calibration
Compound
calibration
Average 0.031 0.023 Standard deviation 0.018 0.011 Maximum 0.098 0.061 RP 0.084 0.055
Table 5. Residual compensation results
View tableView in ArticleTable 5. Residual compensation results
Before
compensation
After compensation Average 0.024 0.017 Standard deviation 0.011 0.005 Maximum 0.057 0.028 RP 0.057 0.032
Table 6. Comparison of residual compensation effects of different fitting algorithms
View tableView in ArticleTable 6. Comparison of residual compensation effects of different fitting algorithms
Before
compensation
MCCM-ELM MCCM-
BP
Average 0.023 0.014 0.016 Standard deviation 0.011 0.007 0.009 Maximum 0.061 0.044 0.051 RP 0.055 0.035 0.043
Table 7. Comparison of compensation effects of different residual compensation models
View tableView in ArticleTable 7. Comparison of compensation effects of different residual compensation models
Before
compensation
MCCM-ELM FJCM-
ELM
Average 0.023 0.014 0.023 Standard deviation 0.011 0.007 0.010 Maximum 0.061 0.044 0.057 RP 0.055 0.035 0.053
Table 8. Measurement results of standard gauge
View tableView in ArticleTable 8. Measurement results of standard gauge
Before
compensation
After
compensation
Average 0.033 0.021 Standard deviation 0.037 0.019 Maximum 0.137 0.074
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Guanbin GAO, Pei XIE, Fei LIU, Jing NA. Residual modelling and compensation for articulated arm coordinate measuring machines based on compound calibration and extreme learning machine[J]. Optics and Precision Engineering, 2023, 31(22): 3289
Paper Information
Category:
Received: Apr. 3, 2023
Accepted: --
Published Online: Dec. 29, 2023
The Author Email: LIU Fei (feiliu2017@foxmail.com)
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